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AKD 2G-S Series
Kollmorgen AKD 2G-S Series User Manual
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AKD
®
2G-Sxx
with
Functional
Safety
Option
1
STO
-
SIL2
Installation
Manual
,
English
Manual
Edition:
F,
June,
2023
Safety
Edition:
S103,
March
2023
Valid
for
AKD
®
2G-S
Hardware
Revision
A
Part
Number
907-200003-00
Original
Document
For
safe
and
proper
use,
follow
these
instructions.
K
eep
for
future
use.
2
Table of Contents
Table of Contents
4
General
10
About this Installation Manual
11
Using the PDF Format
11
Symbols Used
12
Abbreviations Used
13
Product Safety
14
You Should Pay Attention to this
15
Use as Directed
17
Prohibited Use
18
Warning Note Labels
18
Notes Placed on the Product
18
Adhesive Label in the Package
18
Shock-Hazard Protection
19
Leakage Current
19
Residual Current Protective Device (RCD)
19
Isolating Transformers
19
Stop / Emergency Stop / Emergency off
20
Stop
20
Emergency Stop
21
Emergency off
21
Product Life Cycle Handling
22
Transport
23
Packaging
23
Storage
23
Installation, Setup and Normal Operation
23
Decommissioning
24
Volatile and Non-Volatile Memory
24
Maintenance and Cleaning
24
Disassembly
24
System Repair
25
Disposal
25
Package
26
Package Supplied
27
Nameplate
27
Part Number Scheme
28
Connector Options Availability
29
Technical Description and Data
30
The AKD2G Family of Digital Drives
31
Ambient Conditions, Ventilation and Mounting Position
33
Mechanical Data
34
Performance Data
34
Electrical Data
35
Single Axis Variants (S)
35
Mains Supply Data, 1 Phase AC, Type AKD2G-Sxx- (S)
35
Mains Supply Data, 3 Phase AC, Type AKD2G-Sxx- (S)
35
Mains Supply Data, DC, Type AKD2G-Sxx- (S)
35
Output Data, Type AKD2G-Sxx- (S)
36
Dual Axis Variants (D: I1=I2)
37
Mains Supply Data, 1 Phase AC, Type AKD2G-Sxx- (D)
37
Mains Supply Data, 3 Phase AC, Type AKD2G-Sxx- (D)
37
Mains Supply Data, DC, Type AKD2G-Sxx- (D)
37
Output Data, Type AKD2G-Sxx- (D)
38
Steady State Control Current Per Brake Option
39
Electrical Motor Braking
40
Drive Dynamic Braking
40
Regeneration Braking
40
Functional Description
40
Technical Data for AKD2G-Sxx-6V
41
Technical Data for AKD2G-Sxx-7V
42
LCD Display and Push-Buttons (B1, B2)
43
SD Card Slot
46
Mechanical Installation
47
Important Notes
48
Guide to Mechanical Installation
48
Dimensions
49
Electrical Installation
51
Important Notes
52
Guide to Electrical Installation
53
Wiring
54
General
54
Mating Connectors
54
Cable and Wire Requirements
55
Cable Material
55
Cable Length
55
T-Connector Wiring
55
Cable Cross Sections and Requirements
56
Protective Earth Connection
57
EMI Noise Reduction
58
Reducing EMI Noise
58
Shielding with External Shielding Busbar
59
Shielding Concept
59
Shielding Busbar
60
Shielding Connection to the Drive
61
Shielding Concept
61
Grounding Plates and Shield Connection Clamps
62
Motor Connector X1/X2 with Shielding Connection
62
Connection Overview
63
Connector Position AKD2G-Sxx-6V
63
Connector Position AKD2G-Sxx-7V
64
AKD2G 480 Vac, 24 Amp Drive
65
Wiring Overview, Single Axis Drive
66
AKD2G Sxx-Xxs 3-12 Amp Drives
66
AKD2G Sxx-724S 24 Amp Drives
67
Wiring Overview, Dual Axis Drive
68
AKD2G Sxx-Xxs 3-12 Amp Drives
68
Connector Pinout
69
X1 and X2: Motor, Brake, Feedback
69
X3: Mains, Regen Resistor, DC-Bus
70
X3A/X3B: Mains, Regen Resistor, DC-Bus
71
X4: Second Brake
72
X5: Feedback
72
X10: 24 VDC
72
X11, X12: Ethernet Fieldbus
73
X13, X14: CAN Bus (Optional)
73
X20: Service
73
X21: I/O, Feedback
74
X22: I/O, EEO2, Feedback
75
X23: I/O, EEO1, Feedback
76
X41: SFA Feedback Converter, EEO3/EEO4 EXX3/EXX4 (Accessory)
77
Power and Logic Voltage Supply (X3/X10)
78
Electrical Supply Connection
78
Connection to Various Mains Supply Networks AKD2G-Sxx-6V (100V to 240V)
78
Connection to Various Mains Supply Networks AKD2G-Sxx-7V (240V to 480V)
79
Mains Power Supply Connector X3/X3A
80
Wiring Examples Mains Power Supply
81
Fusing
85
Auxiliary Voltage Power Supply Connector X10
91
Fusing
91
Wiring Example 24 VDC Supply
91
DC Bus Link Connector X3/X3B
92
Fusing
93
Wiring Example with T Connectors
93
Wiring Example with Busbar
94
Regen Resistor Connector X3/X3B
95
Fusing and Wiring
95
Motor Power, Brake and Feedback Connection
96
Motor Connectivity, some Examples
96
Single Motor Cable Connection
97
Motor Power, Brake and Feedback Connectors
97
Feedback Connectors
98
Secondary Brake Connector X4
98
Dual Motor Cable Connection
99
Motor Power and Motor Brake Connectors
100
Feedback Connectors
100
7V24S Model Secondary Brake Connector X4
100
Motor Holding Brake Connection
101
Secondary Brake Connector X4
103
Feedback Connection
104
Overview
104
Feedback to Connector
104
Feedback Type to Connector
105
Maximum Cable Lengths by Feedback Type
105
Feedback Connectors
106
Feedback Connector X5
107
Feedback Connector X21
108
Feedback Connector X22
109
Feedback Connector X23
110
X23 Connector Pinout Summary
110
X23 Feedback Wiring Pinout Diagrams
112
X23 SFD Feedback
112
X23 Resolver Feedback
113
X23 Biss (Mode B) Analog Feedback
114
X23 Biss (Mode C) Digital Feedback
115
X23 Endat 2.1 Feedback (with 1V P-P Analog Signals)
116
X23 Endat 2.2 Digital Feedback
117
X23 HIPERFACE Feedback
118
X23 Sine Encoder Feedback
119
X23 Sine Encoder with Hall Feedback
120
X23 Incremental Encoder Feedback
121
X23 Incremental Encoder with Hall Feedback
122
X23 Hall Feedback
123
X23 SSI Feedback
123
X23 Step / Direction and CW / CCW Feedback
124
Feedback Connector X41 (SFA, Accessory)
125
X41 Connector Pinout Summary
126
X41 Feedback Wiring Pinout Diagrams
127
X41 SFD Feedback
127
X41 Resolver Feedback
128
X41 Biss (Mode B) Analog Feedback
129
X41 Biss (Mode C) Digital Feedback
130
X41 Endat 2.1 Feedback (with 1 V P-P Analog Signals)
131
X41 Endat 2.2 Digital Feedback
132
X41 HIPERFACE Feedback
133
X41 Sine Encoder Feedback
134
X41 Sine Encoder with Hall Feedback
135
X41 Incremental Encoder Feedback
136
X41 Incremental Encoder with Hall Feedback
137
X41 Hall Feedback
138
X41 SSI Feedback
138
Gearing
139
Overview
139
Input - Electronic Gearing
139
Output - Emulated Encoder Output (EEO)
139
Master-Slave Control
141
Examples
141
Ethernet Fieldbus Interface Connector
142
Ethercat
142
Profinet
143
Ethernet/Ip
144
CAN-Bus Interface Connector
145
CAN-Bus Topology
145
CAN-Bus Wiring
146
Baud Rate for CAN-Bus
147
Node Address for CAN-Bus
147
CAN-Bus Termination
147
Service Interface Connector X20
148
Possible Network Configurations
148
Modbus TCP Connector X20
149
I/O Connectors
150
Technical Data
151
Analog Input
152
Analog Output
153
Digital Inputs
154
Digital-In 1 and
154
Digital-In 3 to
155
Digital-In/Out 1 and
156
Digital-In/Out 3 to
157
Digital Outputs
158
Digital-Out 1 to
158
Digital-Out 7 and
159
Digital-In/Out 1 and
160
Digital-In/Out 3 to
160
Digital-Out 9, Relay Contacts
161
Setup
162
Important Notes
163
Guide to Drive Setup
164
Initial Drive Test Procedure
164
Unpacking, Mounting, and Wiring the AKD2G
164
Minimum Wiring for Drive Test Without Load, Example
164
Confirm Connections (Example: Directly to PC)
165
System Integration
165
Install and Start Workbench
165
Setup the Axis in Workbench
165
Enable the Axis (Hardware)
166
Move the Motor Axis
166
Tune the Axis
166
Workbench Installation
167
Use as Directed
167
Software Description
168
Hardware Requirements
168
Operating Systems
168
Installation under Windows 7/8/10
169
Switch-On and Switch-Off Behavior
170
Switch-On Behavior in Standard Operation
171
Switch-Off Behavior
172
Switch-Off Behavior Using the AXIS#.DIS Command
172
Switch-Off Behavior Using a Digital Input (Controlled Stop)
173
Switch-Off Behavior Using STO Input (Uncontrolled Stop)
173
Switch-Off Behavior in the Event of a Fault
174
Fault and Warning Messages
177
Fault and Warning Messages AKD2G
177
Troubleshooting
178
Safety Manual for FS1
179
General Notes
180
Use as Directed
181
Prohibited Use
181
Abbreviations Used for Functional Safety
181
Enclosure, Wiring
182
Verification
183
Safety Function Option 1 (I/O, SIL2 Pld)
183
Safety Properties Overview
183
Technical Data
184
STO (Safe Torque Off)
185
Important Notes
185
Activation
185
Restart
186
Timing
187
Safety Diagnostic View in Workbench
187
Fault Reaction / Failure Messages
188
Settings
189
Safety Faults, Safety Warnings
190
LCD Display
190
Drive Safety Faults
191
Safety Warnings
191
Troubleshooting Functional Safety
191
Functional Safety Parameter Reference
192
Safety Parameters, Sorted Alphanumeric
193
Axis#.Safe.sto.a
193
Axis#.Safe.sto.b
193
Axis#.Safe.sto.active
194
Axis#.Safe.sto.reportfault
194
Approvals
195
Conformance with Ul/Cul
196
A Drives
196
7V24S 24 a Drives
197
Conformance with EU
198
Functional Safety
199
Conformance with Rohs
199
Conformance with REACH
199
Waste Framework Directive Substances of Concern in Products (SCIP) Database
199
Conformance with UK
199
Index
200
Record of Document Revisions
202
Requirements to User Documentation, Revision
205
Sdrs/Ssrs
205
IEC 61508-2 Annex D Requirements to User Documentation
208
ISO 13849-1, Clause 11, Requirements to User Documentation
209
IEC 61508-3 Annex D Requirements to User Documentation
210
Revisions
210
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Kollmorgen AKD 2G-S Series Specifications
General
Brand
Kollmorgen
Model
AKD 2G-S Series
Category
Servo Drives
Language
English
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